version: 66.10
glider: 205
mission: 4
dive: 18
start: 9 5 113 7 41 28
data:
$ID,205
$MISSION,4
$DIVE,18
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,180
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,40
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,77
$T_MISSION,80
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,90
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,53289
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038000001
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,250
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-630.80951
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,207
$PITCH_MAX,3915
$C_PITCH,2697
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20.5
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,293
$ROLL_MAX,3984
$ROLL_DEG,40
$C_ROLL_DIVE,2030
$C_ROLL_CLIMB,1860
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,31
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2242
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0020000001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,97
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-59.905739
$PRESSURE_SLOPE,0.0001159995
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,125
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.98000002
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043419907
$SEABIRD_T_H,0.000621902
$SEABIRD_T_I,2.2352948e-05
$SEABIRD_T_J,2.3392056e-06
$SEABIRD_C_G,-9.6916523
$SEABIRD_C_H,1.1209148
$SEABIRD_C_I,-0.0012442283
$SEABIRD_C_J,0.0001684351
$GPS1,050913,073208,4744.208,-12224.602,3,1.2,3,16.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-68.5
$GPS2,050913,074034,4744.190,-12224.519,5,1.3,5,16.3
$SPEED_LIMITS,0.135,0.191
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.123,-0.147
$KALMAN_X,2548.9,-1231.4,-67.1,-1283.9,204.8
$KALMAN_Y,-1750.6,-669.8,1235.1,3747.6,123.6
$MHEAD_RNG_PITCHd_Wd,203.6,641,-19.1,-7.792
$D_GRID,175
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-1.11,-88.0,0.0,0.0,0,54,0.00,0.00,-37.33,0.000,2,0.000,0.000,197,2020,2415,0,0,0,0,0,0,28.83,28.83,28.83
$GC,56,-1.11,-88.0,3.0,-6.8,5,74,9.10,2.30,-3.90,0.000,4,0.264,0.069,2319,3435,2602,0,0,0,0,0,0,26.39,26.57,26.86
$GC,313,-1.11,-88.0,50.2,-17.8,50,322,0.00,2.17,0.00,0.000,6,0.000,0.041,2319,2032,2603,0,0,0,0,0,0,28.83,26.77,28.83
$GC,475,-1.11,-88.0,78.5,-18.3,81,481,0.00,2.20,0.00,0.000,4,0.000,0.057,2309,3440,2603,0,0,0,0,0,0,28.83,26.81,28.83
$GC,529,-1.11,-88.0,87.5,-17.3,91,536,0.12,2.15,0.00,0.000,6,0.189,0.043,2336,2023,2602,0,0,0,0,0,0,26.72,26.85,28.83
$GC,688,-1.11,-88.0,108.3,-10.2,122,696,0.00,2.25,0.00,0.000,4,0.000,0.057,2336,615,2603,0,0,0,0,0,0,28.83,26.87,28.83
$GC,915,-1.11,-88.0,140.2,-13.1,166,924,0.00,2.22,0.00,0.000,6,0.000,0.044,2330,2033,2603,0,0,0,0,0,0,28.83,26.96,28.83
$GC,1076,-1.11,-88.0,162.0,-12.9,197,1083,0.00,2.20,0.00,0.000,4,0.000,0.057,2325,3444,2603,0,0,0,0,0,0,28.83,26.96,28.83
$GC,1141,-1.11,-88.0,171.0,-15.2,209,1148,0.00,2.15,0.00,0.000,6,0.000,0.043,2325,2015,2602,0,0,0,0,0,0,28.83,27.00,28.83
$STATE,1168,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1168,begin apogee
$GC,1171,-0.24,0.0,175.3,-14.7,214,1246,0.93,0.00,66.75,1.224,6,0.158,0.000,2608,1858,2243,0,0,0,0,0,0,26.87,28.83,24.75
$STATE,1247,end apogee,CONTROL_FINISHED_OK
$STATE,1247,begin climb
$GC,1248,1.11,88.0,180.2,0.0,225,1328,1.33,0.00,69.22,1.208,6,0.098,0.000,3044,1858,1884,0,0,0,0,0,0,25.53,28.83,24.33
$GC,1481,1.12,93.6,166.8,7.5,267,1495,0.00,2.35,5.82,0.992,4,0.000,0.060,3044,451,1862,0,0,0,0,0,0,28.83,26.01,25.25
$GC,1551,1.12,93.6,160.6,8.9,280,1560,0.00,2.28,0.00,0.000,6,0.000,0.041,3044,1868,1862,0,0,0,0,0,0,28.83,26.21,28.83
$GC,1711,1.12,93.6,146.3,10.2,311,1718,0.00,2.28,0.00,0.000,4,0.000,0.060,3044,457,1862,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1775,1.12,93.6,139.5,10.3,323,1782,0.00,2.20,0.00,0.000,6,0.000,0.043,3044,1871,1862,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1934,1.12,93.6,120.3,9.2,354,1942,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,1871,1861,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2095,1.16,114.4,108.7,6.6,385,2110,0.00,2.30,7.90,0.964,4,0.000,0.060,3044,453,1775,0,0,0,0,0,0,28.83,26.55,25.83
$GC,2396,1.22,145.7,83.8,5.9,444,2420,0.10,2.20,11.18,0.915,6,0.061,0.042,3098,1855,1649,0,0,0,0,0,0,26.77,26.78,25.88
$GC,2572,1.22,145.7,67.8,10.1,477,2579,0.00,2.25,0.00,0.000,4,0.000,0.061,3099,458,1648,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2869,1.22,145.7,36.9,9.9,535,2878,0.00,2.20,0.00,0.000,6,0.000,0.043,3099,1858,1648,0,0,0,0,0,0,28.83,26.84,28.83
$GC,2965,1.22,145.7,27.5,8.9,551,2974,0.00,2.28,0.00,0.000,4,0.000,0.062,3099,456,1648,0,0,0,0,0,0,28.83,26.84,28.83
$GC,3170,1.22,145.7,10.6,8.0,586,3178,0.00,2.20,0.00,0.000,6,0.000,0.044,3099,1859,1649,0,0,0,0,0,0,28.83,26.91,28.83
$GC,3268,1.35,208.5,5.0,4.1,602,3300,0.00,2.22,21.83,0.120,4,0.000,0.057,3098,3265,1385,0,0,0,0,0,0,28.83,26.87,26.80
$STATE,3319,end climb,SURFACE_DEPTH_REACHED
$STATE,3320,begin surface coast
$FINISH,-0.1,1.009801
$STATE,3357,end surface coast,CONTROL_FINISHED_OK
$STATE,3357,begin surface
$SM_CCo,3372,14.00,0.117,0,0,1219,250.21
$SM_GC,3.82,7.82,1.92,14.00,0.060,0.045,0.117,201,2035,1219,-7.74,1.10,250.21,0,0,0,0,0,0,26.89,26.91,26.79
$IRIDIUM_FIX,4726.11,-12227.78,050913,070709
$TT8_MAMPS,0.029211,0.029211
$HUMID,65.35
$INTERNAL_PRESSURE,9.03992
$TCM_TEMP,14.20
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,125.1,61.7
$24V_AH,24.3,1.772
$10V_AH,10.4,1.179
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,19.400,44.550,182.700,14.000,0.000,50.579,65.797,258.428,2.250,0.000,5.874,1393.869,187.080,247.848,2034.893,41.595,33.202,794.495,0.000,1636.822,0.000,5.603,0.000
$DEVICE_MAMPS,263.925,71.910,1224.000,117.045,0.000,9.940,160.000,223.000,420.000,0.000,28.460,17.450,2.190,17.450,42.170,58.650,64.640,20.000,0.000,3.740,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,417.477,1281.315,1216.850,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,6.740,36.700,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323432
$DATA_FILE_SIZE,40340,615
$CAP_FILE_SIZE,64351,0
$CFSIZE,1024393216,1021329408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,050913,083832,4743.767,-12224.647,3,1.4,3,16.3